SHENG-HEN HSIEH
/
VDU_2021
Just a regular publish
main.cpp@19:d68f21173c23, 2020-01-08 (annotated)
- Committer:
- open4416
- Date:
- Wed Jan 08 13:10:51 2020 +0000
- Revision:
- 19:d68f21173c23
- Parent:
- 18:780366f2534c
- Child:
- 20:e9daae390513
Add test code for IMU, in case future update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
open4416 | 0:c4747ebbe0b4 | 1 | #include "mbed.h" |
open4416 | 8:f8b1402c8f3c | 2 | #include "main.h" |
open4416 | 19:d68f21173c23 | 3 | |
open4416 | 19:d68f21173c23 | 4 | // define this for newversion test mode |
open4416 | 19:d68f21173c23 | 5 | //#define IMU_direct |
open4416 | 19:d68f21173c23 | 6 | |
open4416 | 19:d68f21173c23 | 7 | #ifndef IMU_direct |
open4416 | 9:c99eeafa6fa3 | 8 | #include "imu_driver.hpp" |
open4416 | 19:d68f21173c23 | 9 | #else |
open4416 | 19:d68f21173c23 | 10 | typedef struct AhrsRawData { |
open4416 | 19:d68f21173c23 | 11 | uint16_t status; |
open4416 | 19:d68f21173c23 | 12 | int16_t rate[3]; |
open4416 | 19:d68f21173c23 | 13 | int16_t accel[3]; |
open4416 | 19:d68f21173c23 | 14 | uint16_t temperature; |
open4416 | 19:d68f21173c23 | 15 | int16_t attitude[3]; |
open4416 | 19:d68f21173c23 | 16 | } AhrsData; |
open4416 | 19:d68f21173c23 | 17 | #define Read_VG (0x3D) |
open4416 | 19:d68f21173c23 | 18 | #define ACCL2F (4000.0f) |
open4416 | 19:d68f21173c23 | 19 | #define GYRO2F (100.0f) |
open4416 | 19:d68f21173c23 | 20 | #define AHRS2F (90.0f) |
open4416 | 19:d68f21173c23 | 21 | #define VG_len 11U |
open4416 | 19:d68f21173c23 | 22 | #endif |
open4416 | 19:d68f21173c23 | 23 | |
open4416 | 8:f8b1402c8f3c | 24 | #define pi 3.14159265359f |
open4416 | 8:f8b1402c8f3c | 25 | #define d2r 0.01745329252f |
open4416 | 2:c7a3a8c1aeed | 26 | #define dt 0.01f |
open4416 | 6:fbe401163489 | 27 | |
open4416 | 5:8116016abee0 | 28 | DigitalOut Aux_Rly(PC_10,0); //Control aux relay, 1 active |
open4416 | 9:c99eeafa6fa3 | 29 | DigitalOut Fault_Ind(PC_12,0); //Indicate fault bt flashing, 1 active |
open4416 | 2:c7a3a8c1aeed | 30 | DigitalOut LED(D13, 0); //Internal LED output, general purpose |
open4416 | 6:fbe401163489 | 31 | AnalogIn AUX_1(PC_0); //Auxilaru analog sensor |
open4416 | 13:ac024885d0bf | 32 | AnalogIn AUX_2(PC_3); |
open4416 | 6:fbe401163489 | 33 | AnalogIn AUX_3(PC_2); |
open4416 | 6:fbe401163489 | 34 | AnalogIn AUX_4(PC_1); |
open4416 | 7:f674ef860c9c | 35 | AnalogIn SDn_sense(PB_0); //Shutdown circuit driving end detection |
open4416 | 13:ac024885d0bf | 36 | AnalogIn Brk_sense(PA_4); //Brake sensor readings |
open4416 | 9:c99eeafa6fa3 | 37 | CAN can1(PB_8, PB_9, 1000000); //1Mbps, contain critical torque command message |
open4416 | 9:c99eeafa6fa3 | 38 | SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, forIMU |
open4416 | 19:d68f21173c23 | 39 | #ifndef IMU_direct |
open4416 | 14:bcf5cb4d08a5 | 40 | ImuDriver <spi2, PC_4, PB_2, PB_1> imu(ImuExtiRcvBothMsg); //SPI instance, reset, data ready, slave select |
open4416 | 19:d68f21173c23 | 41 | #else |
open4416 | 19:d68f21173c23 | 42 | AhrsData ahrsdata; |
open4416 | 19:d68f21173c23 | 43 | DigitalOut cs(PB_1,1); |
open4416 | 19:d68f21173c23 | 44 | InterruptIn drdy(PB_2); |
open4416 | 19:d68f21173c23 | 45 | #endif |
open4416 | 9:c99eeafa6fa3 | 46 | Serial pc(USBTX, USBRX, 115200); |
open4416 | 9:c99eeafa6fa3 | 47 | Ticker ticker1; //100Hz task |
open4416 | 5:8116016abee0 | 48 | CANMessage can_msg_Rx; |
open4416 | 5:8116016abee0 | 49 | CANMessage can_msg_Tx; |
open4416 | 2:c7a3a8c1aeed | 50 | |
open4416 | 2:c7a3a8c1aeed | 51 | void timer1_interrupt(void) |
open4416 | 2:c7a3a8c1aeed | 52 | { |
open4416 | 6:fbe401163489 | 53 | HSTick += 1; |
open4416 | 6:fbe401163489 | 54 | LSTick += 1; |
open4416 | 6:fbe401163489 | 55 | if (HSTick > 9) { // 100Hz |
open4416 | 6:fbe401163489 | 56 | HST_EXFL = 1; |
open4416 | 6:fbe401163489 | 57 | HSTick = 0; |
open4416 | 6:fbe401163489 | 58 | } |
open4416 | 6:fbe401163489 | 59 | if (LSTick > 99) { // 10Hz |
open4416 | 6:fbe401163489 | 60 | LST_EXFL = 1; |
open4416 | 6:fbe401163489 | 61 | LSTick = 0; |
open4416 | 6:fbe401163489 | 62 | } |
open4416 | 2:c7a3a8c1aeed | 63 | } |
open4416 | 0:c4747ebbe0b4 | 64 | |
open4416 | 0:c4747ebbe0b4 | 65 | int main() |
open4416 | 0:c4747ebbe0b4 | 66 | { |
open4416 | 6:fbe401163489 | 67 | //Init CAN network |
open4416 | 9:c99eeafa6fa3 | 68 | CAN_init(); // Note now in Gloable test mode only for testing 2019/11/17 |
open4416 | 6:fbe401163489 | 69 | |
open4416 | 6:fbe401163489 | 70 | //Start House keeping task |
open4416 | 6:fbe401163489 | 71 | printf("VDU start up, pend for module online\n"); |
open4416 | 19:d68f21173c23 | 72 | #ifdef IMU_direct |
open4416 | 19:d68f21173c23 | 73 | drdy.fall(&IMU_isr); //IMU interrupt service |
open4416 | 19:d68f21173c23 | 74 | spi2.format(16, 3); |
open4416 | 19:d68f21173c23 | 75 | //spi2.frequency(); //As default |
open4416 | 19:d68f21173c23 | 76 | #endif |
open4416 | 6:fbe401163489 | 77 | ticker1.attach_us(&timer1_interrupt, 1000); //1 ms Systick |
open4416 | 6:fbe401163489 | 78 | while(1) { |
open4416 | 6:fbe401163489 | 79 | |
open4416 | 6:fbe401163489 | 80 | // Do high speed loop |
open4416 | 6:fbe401163489 | 81 | if (HST_EXFL == 1) { |
open4416 | 6:fbe401163489 | 82 | HST_EXFL = 0; |
open4416 | 6:fbe401163489 | 83 | |
open4416 | 9:c99eeafa6fa3 | 84 | // Get IMU, Auxs, Max Temperature |
open4416 | 9:c99eeafa6fa3 | 85 | Cooler(); |
open4416 | 6:fbe401163489 | 86 | IMU_read(); |
open4416 | 6:fbe401163489 | 87 | Aux_read(); |
open4416 | 9:c99eeafa6fa3 | 88 | Module_WD(); |
open4416 | 6:fbe401163489 | 89 | |
open4416 | 6:fbe401163489 | 90 | // Run state machine |
open4416 | 6:fbe401163489 | 91 | switch (VDU_STAT) { |
open4416 | 6:fbe401163489 | 92 | |
open4416 | 6:fbe401163489 | 93 | case VDU_PowerOn: |
open4416 | 6:fbe401163489 | 94 | /* Power on state |
open4416 | 6:fbe401163489 | 95 | * Description: |
open4416 | 6:fbe401163489 | 96 | * Simple start up sequence will be done here |
open4416 | 6:fbe401163489 | 97 | * Do: |
open4416 | 6:fbe401163489 | 98 | * VDU internal POST |
open4416 | 6:fbe401163489 | 99 | * Wait till modules + PSU online |
open4416 | 6:fbe401163489 | 100 | * To VDU_Idle (RTD off): |
open4416 | 6:fbe401163489 | 101 | * Prepare for 4WD main program |
open4416 | 6:fbe401163489 | 102 | * To VDU_Fault: |
open4416 | 6:fbe401163489 | 103 | * Run the error handling service |
open4416 | 6:fbe401163489 | 104 | */ |
open4416 | 6:fbe401163489 | 105 | |
open4416 | 6:fbe401163489 | 106 | //Basic IMU test |
open4416 | 6:fbe401163489 | 107 | POST(); |
open4416 | 6:fbe401163489 | 108 | |
open4416 | 6:fbe401163489 | 109 | //Check if state transition only when all module online |
open4416 | 14:bcf5cb4d08a5 | 110 | if (VDU_FLT != 0) { //Check if any error |
open4416 | 14:bcf5cb4d08a5 | 111 | VDU_STAT = VDU_Fault; |
open4416 | 14:bcf5cb4d08a5 | 112 | printf("POST Fault\n"); |
open4416 | 14:bcf5cb4d08a5 | 113 | FLT_print = 1; |
open4416 | 14:bcf5cb4d08a5 | 114 | } else if ((FL_online*FR_online*RL_online*RR_online*PSU_online)!=0) { |
open4416 | 14:bcf5cb4d08a5 | 115 | // } else if (1) { //2019/11/30 only use for force online debug |
open4416 | 14:bcf5cb4d08a5 | 116 | //All module online & POST pass |
open4416 | 14:bcf5cb4d08a5 | 117 | VDU_STAT = VDU_Idle; |
open4416 | 14:bcf5cb4d08a5 | 118 | printf("All module online, VDU now Idle\n"); |
open4416 | 6:fbe401163489 | 119 | } //Else keep in state VDU_PowerOn |
open4416 | 6:fbe401163489 | 120 | break; |
open4416 | 6:fbe401163489 | 121 | |
open4416 | 6:fbe401163489 | 122 | case VDU_Idle: |
open4416 | 6:fbe401163489 | 123 | /* Controller Idle state |
open4416 | 6:fbe401163489 | 124 | * Description: |
open4416 | 6:fbe401163489 | 125 | * Normal latched state, wait for RTD_HMI set from PSU |
open4416 | 6:fbe401163489 | 126 | * 4WD in running but output mask to 0 |
open4416 | 6:fbe401163489 | 127 | * Do: |
open4416 | 6:fbe401163489 | 128 | * 4WD controller |
open4416 | 6:fbe401163489 | 129 | * Check: |
open4416 | 6:fbe401163489 | 130 | * RUN faults if any |
open4416 | 6:fbe401163489 | 131 | * To VDU_Run: |
open4416 | 6:fbe401163489 | 132 | * Initialize parameters for start up, set RTD_cmd |
open4416 | 6:fbe401163489 | 133 | * To VDU_Fault: |
open4416 | 6:fbe401163489 | 134 | * Run the error handling service |
open4416 | 6:fbe401163489 | 135 | */ |
open4416 | 6:fbe401163489 | 136 | |
open4416 | 6:fbe401163489 | 137 | //Forced RTD_HMI for debug purpose 2019/11/14 |
open4416 | 13:ac024885d0bf | 138 | // RTD_HMI = 1; //Should be set if can bus received data |
open4416 | 6:fbe401163489 | 139 | //Forced RTD_HMI for debug purpose 2019/11/14 |
open4416 | 6:fbe401163489 | 140 | |
open4416 | 6:fbe401163489 | 141 | RUNT(); //Run test |
open4416 | 6:fbe401163489 | 142 | AWD(); //AWD main program |
open4416 | 1:8a9ac822aab7 | 143 | |
open4416 | 14:bcf5cb4d08a5 | 144 | if (VDU_FLT != 0) { //Check if any error |
open4416 | 6:fbe401163489 | 145 | VDU_STAT = VDU_Fault; |
open4416 | 7:f674ef860c9c | 146 | printf("Idle 2 Fault\n"); |
open4416 | 6:fbe401163489 | 147 | FLT_print = 1; |
open4416 | 6:fbe401163489 | 148 | } else if (RTD_HMI != 0) { //Or command to run threw PSU |
open4416 | 6:fbe401163489 | 149 | //Prepare to send out RTD and start motor |
open4416 | 6:fbe401163489 | 150 | Idle2Run(); |
open4416 | 6:fbe401163489 | 151 | VDU_STAT = VDU_Run; |
open4416 | 6:fbe401163489 | 152 | printf("Idle 2 Run\n"); |
open4416 | 6:fbe401163489 | 153 | } //Else keep in state |
open4416 | 6:fbe401163489 | 154 | break; |
open4416 | 6:fbe401163489 | 155 | |
open4416 | 6:fbe401163489 | 156 | case VDU_Run: |
open4416 | 6:fbe401163489 | 157 | /* Controller Run state |
open4416 | 6:fbe401163489 | 158 | * Description: |
open4416 | 6:fbe401163489 | 159 | * Normal latched state, after RTD_HMI is set from PSU |
open4416 | 6:fbe401163489 | 160 | * Same to Idle state except RTD_cmd is set |
open4416 | 6:fbe401163489 | 161 | * Do: |
open4416 | 6:fbe401163489 | 162 | * 4WD controller |
open4416 | 6:fbe401163489 | 163 | * Check: |
open4416 | 6:fbe401163489 | 164 | * RUN faults if any |
open4416 | 6:fbe401163489 | 165 | * To VDU_Idle: |
open4416 | 6:fbe401163489 | 166 | * Initialize parameters for idling, reset RTD_cmd |
open4416 | 6:fbe401163489 | 167 | * To VDU_Fault: |
open4416 | 6:fbe401163489 | 168 | * Run the error handling service |
open4416 | 6:fbe401163489 | 169 | */ |
open4416 | 6:fbe401163489 | 170 | |
open4416 | 6:fbe401163489 | 171 | RUNT(); //Run test |
open4416 | 6:fbe401163489 | 172 | AWD(); //AWD main program |
open4416 | 6:fbe401163489 | 173 | |
open4416 | 6:fbe401163489 | 174 | //Temporary debug posting area 2019/11/14 |
open4416 | 6:fbe401163489 | 175 | //printf("%d,%d\n", Encoder_cnt, Encoder_del); |
open4416 | 6:fbe401163489 | 176 | //printf("%d\n\r", (int16_t)Tmodule);// |
open4416 | 6:fbe401163489 | 177 | //printf("%d\n\r", (int16_t)Vbus); |
open4416 | 0:c4747ebbe0b4 | 178 | |
open4416 | 14:bcf5cb4d08a5 | 179 | if (VDU_FLT != 0) { //Check if any error |
open4416 | 6:fbe401163489 | 180 | VDU_STAT = VDU_Fault; |
open4416 | 7:f674ef860c9c | 181 | printf("Run 2 Fault\n"); |
open4416 | 6:fbe401163489 | 182 | FLT_print = 1; |
open4416 | 6:fbe401163489 | 183 | } else if (RTD_HMI != 1) { //Or command to stop threw can bus |
open4416 | 6:fbe401163489 | 184 | Run2Idle(); |
open4416 | 6:fbe401163489 | 185 | VDU_STAT = VDU_Idle; |
open4416 | 6:fbe401163489 | 186 | printf("Run 2 Idle\n"); |
open4416 | 6:fbe401163489 | 187 | } //Else keep in state |
open4416 | 6:fbe401163489 | 188 | break; |
open4416 | 6:fbe401163489 | 189 | |
open4416 | 6:fbe401163489 | 190 | case VDU_Fault: |
open4416 | 6:fbe401163489 | 191 | /* Controller Fault state |
open4416 | 6:fbe401163489 | 192 | * Description: |
open4416 | 6:fbe401163489 | 193 | * Fault latched state if any faults is detected |
open4416 | 6:fbe401163489 | 194 | * Same to Idle state except keep till RTD_HMI reset |
open4416 | 6:fbe401163489 | 195 | * Do: |
open4416 | 6:fbe401163489 | 196 | * Nothing, like a piece of shit |
open4416 | 6:fbe401163489 | 197 | * Check: |
open4416 | 6:fbe401163489 | 198 | * RUN faults if any |
open4416 | 6:fbe401163489 | 199 | * To VDU_PowerOn: |
open4416 | 6:fbe401163489 | 200 | * Restart VDU |
open4416 | 6:fbe401163489 | 201 | */ |
open4416 | 6:fbe401163489 | 202 | |
open4416 | 6:fbe401163489 | 203 | RUNT(); //Run test |
open4416 | 6:fbe401163489 | 204 | |
open4416 | 6:fbe401163489 | 205 | if (RST_HMI == 1) { //PSU reset to clear error |
open4416 | 18:780366f2534c | 206 | RST_HMI = 0; |
open4416 | 6:fbe401163489 | 207 | RST_cmd = 1; |
open4416 | 14:bcf5cb4d08a5 | 208 | FLT_print = 0; //Stop error printing |
open4416 | 6:fbe401163489 | 209 | VDU_STAT = VDU_PowerOn; |
open4416 | 14:bcf5cb4d08a5 | 210 | printf("VDU rebooting...\n"); |
open4416 | 6:fbe401163489 | 211 | } //Else keep in state |
open4416 | 6:fbe401163489 | 212 | break; |
open4416 | 6:fbe401163489 | 213 | } |
open4416 | 6:fbe401163489 | 214 | |
open4416 | 7:f674ef860c9c | 215 | // Shit out torque distribution and special command |
open4416 | 6:fbe401163489 | 216 | if(VDU_STAT == VDU_Run) { |
open4416 | 6:fbe401163489 | 217 | //Allow output torque |
open4416 | 6:fbe401163489 | 218 | Tx_Tcmd_CAN1(); |
open4416 | 6:fbe401163489 | 219 | } else if(RST_cmd != 0) { |
open4416 | 7:f674ef860c9c | 220 | //Send out reset cmd once |
open4416 | 6:fbe401163489 | 221 | Tx_CLRerr_CAN1(); |
open4416 | 6:fbe401163489 | 222 | } else { |
open4416 | 6:fbe401163489 | 223 | //Force RTD off when not in VDU_Run |
open4416 | 6:fbe401163489 | 224 | Tx_Estop_CAN1(); |
open4416 | 6:fbe401163489 | 225 | } |
open4416 | 6:fbe401163489 | 226 | |
open4416 | 14:bcf5cb4d08a5 | 227 | //2019/12/18 Add here to test IMU, newer version use inturrupt get data |
open4416 | 14:bcf5cb4d08a5 | 228 | // pc.printf("%.3f,%.3f,%.3f\n\r", imu.ahrsProcessedData.attitude[0], imu.ahrsProcessedData.attitude[1], imu.ahrsProcessedData.attitude[2]); |
open4416 | 14:bcf5cb4d08a5 | 229 | // pc.printf("%.3f,%.3f,%.3f\n\r", imu.imuProcessedData.rate[0], imu.imuProcessedData.rate[1], imu.imuProcessedData.rate[2]); |
open4416 | 14:bcf5cb4d08a5 | 230 | // pc.printf("%.3f,%.3f,%.3f\n\r", imu.imuProcessedData.accel[0], imu.imuProcessedData.accel[1], imu.imuProcessedData.accel[2]); |
open4416 | 19:d68f21173c23 | 231 | // pc.printf("%.3f,%.3f,%.3f\n\r", YR_imu, Ax_imu, Ay_imu); |
open4416 | 19:d68f21173c23 | 232 | pc.printf("%.3f,%.3f,%.3f\n\r", Roll_imu, Pitch_imu, Yaw_imu); |
open4416 | 14:bcf5cb4d08a5 | 233 | |
open4416 | 6:fbe401163489 | 234 | } |
open4416 | 7:f674ef860c9c | 235 | // End of high speed loop |
open4416 | 6:fbe401163489 | 236 | |
open4416 | 9:c99eeafa6fa3 | 237 | // Do low speed state reporting 10 Hz |
open4416 | 6:fbe401163489 | 238 | if (LST_EXFL == 1) { |
open4416 | 6:fbe401163489 | 239 | LST_EXFL = 0; |
open4416 | 18:780366f2534c | 240 | //Cooling |
open4416 | 8:f8b1402c8f3c | 241 | Cooler(); |
open4416 | 18:780366f2534c | 242 | |
open4416 | 18:780366f2534c | 243 | //Print low speed data on CAN |
open4416 | 5:8116016abee0 | 244 | Tx_Qdrv_CAN1(); |
open4416 | 6:fbe401163489 | 245 | |
open4416 | 18:780366f2534c | 246 | // Print out error mesagge if exist, 0.5Hz repeative |
open4416 | 6:fbe401163489 | 247 | if(FLT_print != 0) { |
open4416 | 18:780366f2534c | 248 | //Merge Faults |
open4416 | 18:780366f2534c | 249 | FLT_Post = FL_FLT_Post|FR_FLT_Post|RL_FLT_Post|RR_FLT_Post; |
open4416 | 18:780366f2534c | 250 | FLT_Run = FL_FLT_Run|FR_FLT_Run|RL_FLT_Run|RR_FLT_Run; |
open4416 | 18:780366f2534c | 251 | |
open4416 | 18:780366f2534c | 252 | //UART |
open4416 | 7:f674ef860c9c | 253 | FLT_print_cnt += FLT_print; |
open4416 | 6:fbe401163489 | 254 | if(FLT_print_cnt > 19) { |
open4416 | 18:780366f2534c | 255 | if(FLT_Post!=0)printf("POST FL,FR,RL,RR\n0x%04X 0x%04X 0x%04X 0x%04X\n", FL_FLT_Post,FR_FLT_Post,RL_FLT_Post,RR_FLT_Post); |
open4416 | 18:780366f2534c | 256 | if(FLT_Run!=0)printf("RUN FL,FR,RL,RR\n0x%04X 0x%04X 0x%04X 0x%04X\n", FL_FLT_Run,FR_FLT_Run,RL_FLT_Run,RR_FLT_Run); |
open4416 | 18:780366f2534c | 257 | if(VDU_FLT!=0)printf("VDU\n0x%04X\n\n", VDU_FLT); |
open4416 | 6:fbe401163489 | 258 | FLT_print_cnt = 0; |
open4416 | 6:fbe401163489 | 259 | } |
open4416 | 18:780366f2534c | 260 | |
open4416 | 18:780366f2534c | 261 | //LED |
open4416 | 18:780366f2534c | 262 | if(Ind_refresh) { |
open4416 | 18:780366f2534c | 263 | // Refresh data for LED indication after run threw |
open4416 | 18:780366f2534c | 264 | FLT_Post_ind = FLT_Post; |
open4416 | 18:780366f2534c | 265 | FLT_Run_ind = FLT_Run; |
open4416 | 18:780366f2534c | 266 | VDU_FLT_ind = VDU_FLT; |
open4416 | 18:780366f2534c | 267 | Ind_refresh = 0; // Set after run threw all error bits |
open4416 | 18:780366f2534c | 268 | } |
open4416 | 18:780366f2534c | 269 | } else { |
open4416 | 18:780366f2534c | 270 | // Clear & stop LED when no faults |
open4416 | 18:780366f2534c | 271 | FLT_Post_ind = 0; |
open4416 | 18:780366f2534c | 272 | FLT_Run_ind = 0; |
open4416 | 18:780366f2534c | 273 | VDU_FLT_ind = 0; |
open4416 | 18:780366f2534c | 274 | Repeat = 0U; |
open4416 | 18:780366f2534c | 275 | Phase = 0U; |
open4416 | 18:780366f2534c | 276 | Blk_n = 0U; |
open4416 | 6:fbe401163489 | 277 | } |
open4416 | 14:bcf5cb4d08a5 | 278 | |
open4416 | 18:780366f2534c | 279 | // Blinky output |
open4416 | 18:780366f2534c | 280 | if (VDU_STAT != VDU_PowerOn) { |
open4416 | 18:780366f2534c | 281 | // Case after poweron (all module online) or fault(s) occur |
open4416 | 18:780366f2534c | 282 | Ind_refresh = IndicationKernel( |
open4416 | 18:780366f2534c | 283 | &Pattern, |
open4416 | 18:780366f2534c | 284 | &Repeat, |
open4416 | 18:780366f2534c | 285 | &Phase, |
open4416 | 18:780366f2534c | 286 | &FLT_Post_ind, |
open4416 | 18:780366f2534c | 287 | &FLT_Run_ind, |
open4416 | 18:780366f2534c | 288 | &VDU_FLT_ind); |
open4416 | 18:780366f2534c | 289 | LED = Indication(Pattern, &Repeat, &Blk_n); |
open4416 | 18:780366f2534c | 290 | Fault_Ind = LED; |
open4416 | 18:780366f2534c | 291 | } else { |
open4416 | 18:780366f2534c | 292 | // Case no fault while waiting for all module online |
open4416 | 18:780366f2534c | 293 | LED = !LED; //Fast 5Hz blinky indicate the activity |
open4416 | 18:780366f2534c | 294 | Fault_Ind = LED; |
open4416 | 18:780366f2534c | 295 | } |
open4416 | 7:f674ef860c9c | 296 | } |
open4416 | 7:f674ef860c9c | 297 | // End of low speed state reporting |
open4416 | 6:fbe401163489 | 298 | |
open4416 | 7:f674ef860c9c | 299 | } // end of while |
open4416 | 0:c4747ebbe0b4 | 300 | } |
open4416 | 0:c4747ebbe0b4 | 301 | |
open4416 | 6:fbe401163489 | 302 | void Idle2Run(void) |
open4416 | 6:fbe401163489 | 303 | { |
open4416 | 6:fbe401163489 | 304 | RTD_cmd = 1; |
open4416 | 6:fbe401163489 | 305 | } |
open4416 | 6:fbe401163489 | 306 | |
open4416 | 6:fbe401163489 | 307 | void Run2Idle(void) |
open4416 | 6:fbe401163489 | 308 | { |
open4416 | 6:fbe401163489 | 309 | RTD_cmd = 0; |
open4416 | 6:fbe401163489 | 310 | } |
open4416 | 6:fbe401163489 | 311 | |
open4416 | 6:fbe401163489 | 312 | void POST(void) |
open4416 | 6:fbe401163489 | 313 | { |
open4416 | 8:f8b1402c8f3c | 314 | //Check IMU status abnormal |
open4416 | 18:780366f2534c | 315 | if(fabsf(YR_imu) > 250) { //half turn per sec, strange |
open4416 | 6:fbe401163489 | 316 | VDU_FLT |= IMUSTA_VDUFLTCode; //IMU status error |
open4416 | 6:fbe401163489 | 317 | } |
open4416 | 6:fbe401163489 | 318 | } |
open4416 | 6:fbe401163489 | 319 | |
open4416 | 6:fbe401163489 | 320 | void RUNT(void) |
open4416 | 6:fbe401163489 | 321 | { |
open4416 | 8:f8b1402c8f3c | 322 | //POST |
open4416 | 6:fbe401163489 | 323 | POST(); |
open4416 | 6:fbe401163489 | 324 | |
open4416 | 8:f8b1402c8f3c | 325 | //Check module response timeout |
open4416 | 6:fbe401163489 | 326 | if((FL_online*FR_online*RL_online*RR_online) == 0) { |
open4416 | 6:fbe401163489 | 327 | VDU_FLT |= MODOFL_VDUFLTCode; //Module timeout |
open4416 | 6:fbe401163489 | 328 | } |
open4416 | 6:fbe401163489 | 329 | if(PSU_online == 0) { |
open4416 | 6:fbe401163489 | 330 | VDU_FLT |= PSUOFL_VDUFLTCode; //PSU timeout |
open4416 | 6:fbe401163489 | 331 | } |
open4416 | 6:fbe401163489 | 332 | |
open4416 | 6:fbe401163489 | 333 | //Check ShutDrv voltage |
open4416 | 8:f8b1402c8f3c | 334 | if(VDU_STAT == VDU_Run) { |
open4416 | 8:f8b1402c8f3c | 335 | if(SDn_voltage < 8.0f) { |
open4416 | 8:f8b1402c8f3c | 336 | VDU_FLT |= ShDVol_VDUFLTCode; //Shutdown circuit unclosed or uv |
open4416 | 8:f8b1402c8f3c | 337 | } |
open4416 | 8:f8b1402c8f3c | 338 | } |
open4416 | 6:fbe401163489 | 339 | } |
open4416 | 6:fbe401163489 | 340 | |
open4416 | 6:fbe401163489 | 341 | void Aux_read(void) |
open4416 | 6:fbe401163489 | 342 | { |
open4416 | 19:d68f21173c23 | 343 | //Capture analog in at once imu_driver ver |
open4416 | 13:ac024885d0bf | 344 | AUX_1_u16 = AUX_1.read_u16() >> 4U; |
open4416 | 13:ac024885d0bf | 345 | AUX_2_u16 = AUX_2.read_u16() >> 4U; |
open4416 | 13:ac024885d0bf | 346 | AUX_3_u16 = AUX_3.read_u16() >> 4U; |
open4416 | 13:ac024885d0bf | 347 | AUX_4_u16 = AUX_4.read_u16() >> 4U; |
open4416 | 8:f8b1402c8f3c | 348 | SDn_voltage = 18.81f*SDn_sense.read(); //Read in Shutdown circuit voltage in output end |
open4416 | 13:ac024885d0bf | 349 | Brk_voltage = 5.5f*Brk_sense.read(); |
open4416 | 6:fbe401163489 | 350 | } |
open4416 | 6:fbe401163489 | 351 | |
open4416 | 19:d68f21173c23 | 352 | #ifdef IMU_direct |
open4416 | 19:d68f21173c23 | 353 | void IMU_isr(void) |
open4416 | 19:d68f21173c23 | 354 | { |
open4416 | 19:d68f21173c23 | 355 | //Start data transfer |
open4416 | 19:d68f21173c23 | 356 | uint8_t data_rx = 0; |
open4416 | 19:d68f21173c23 | 357 | uint16_t reg_VG = Read_VG<<8U; |
open4416 | 19:d68f21173c23 | 358 | cs = 0; |
open4416 | 19:d68f21173c23 | 359 | spi2.write(reg_VG); |
open4416 | 19:d68f21173c23 | 360 | while(data_rx < VG_len) { |
open4416 | 19:d68f21173c23 | 361 | uint16_t spi_data = spi2.write(0x0000); |
open4416 | 19:d68f21173c23 | 362 | switch(data_rx) { |
open4416 | 19:d68f21173c23 | 363 | case 0: |
open4416 | 19:d68f21173c23 | 364 | ahrsdata.status = spi_data; |
open4416 | 19:d68f21173c23 | 365 | break; |
open4416 | 19:d68f21173c23 | 366 | case 1: |
open4416 | 19:d68f21173c23 | 367 | case 2: |
open4416 | 19:d68f21173c23 | 368 | case 3: |
open4416 | 19:d68f21173c23 | 369 | ahrsdata.rate[data_rx - 1] = spi_data; |
open4416 | 19:d68f21173c23 | 370 | break; |
open4416 | 19:d68f21173c23 | 371 | case 4: |
open4416 | 19:d68f21173c23 | 372 | case 5: |
open4416 | 19:d68f21173c23 | 373 | case 6: |
open4416 | 19:d68f21173c23 | 374 | ahrsdata.accel[data_rx - 4] = spi_data; |
open4416 | 19:d68f21173c23 | 375 | break; |
open4416 | 19:d68f21173c23 | 376 | case 7: |
open4416 | 19:d68f21173c23 | 377 | ahrsdata.temperature = spi_data; |
open4416 | 19:d68f21173c23 | 378 | break; |
open4416 | 19:d68f21173c23 | 379 | case 8: |
open4416 | 19:d68f21173c23 | 380 | case 9: |
open4416 | 19:d68f21173c23 | 381 | case 10: |
open4416 | 19:d68f21173c23 | 382 | ahrsdata.attitude[data_rx - 8] = spi_data; |
open4416 | 19:d68f21173c23 | 383 | break; |
open4416 | 19:d68f21173c23 | 384 | default: |
open4416 | 19:d68f21173c23 | 385 | break; |
open4416 | 19:d68f21173c23 | 386 | } |
open4416 | 19:d68f21173c23 | 387 | ++data_rx; |
open4416 | 19:d68f21173c23 | 388 | } |
open4416 | 19:d68f21173c23 | 389 | cs = 1; |
open4416 | 19:d68f21173c23 | 390 | } |
open4416 | 19:d68f21173c23 | 391 | #endif |
open4416 | 19:d68f21173c23 | 392 | |
open4416 | 6:fbe401163489 | 393 | void IMU_read(void) |
open4416 | 6:fbe401163489 | 394 | { |
open4416 | 19:d68f21173c23 | 395 | #ifndef IMU_direct |
open4416 | 18:780366f2534c | 396 | //Get readings threw back ground, direction not checked 2019/12/20 |
open4416 | 14:bcf5cb4d08a5 | 397 | YR_imu = imu.imuProcessedData.rate[2]; |
open4416 | 14:bcf5cb4d08a5 | 398 | Ax_imu = imu.imuProcessedData.accel[0]; |
open4416 | 14:bcf5cb4d08a5 | 399 | Ay_imu = imu.imuProcessedData.accel[1]; |
open4416 | 14:bcf5cb4d08a5 | 400 | Roll_imu = imu.ahrsProcessedData.attitude[0]; |
open4416 | 14:bcf5cb4d08a5 | 401 | Pitch_imu = imu.ahrsProcessedData.attitude[1]; |
open4416 | 19:d68f21173c23 | 402 | Yaw_imu = imu.ahrsProcessedData.attitude[2]; |
open4416 | 19:d68f21173c23 | 403 | #else |
open4416 | 19:d68f21173c23 | 404 | YR_imu = ahrsdata.rate[2]/GYRO2F; |
open4416 | 19:d68f21173c23 | 405 | Ax_imu = ahrsdata.accel[0]/ACCL2F; |
open4416 | 19:d68f21173c23 | 406 | Ay_imu = ahrsdata.accel[1]/ACCL2F; |
open4416 | 19:d68f21173c23 | 407 | Roll_imu = ahrsdata.attitude[0]/AHRS2F; |
open4416 | 19:d68f21173c23 | 408 | Pitch_imu = ahrsdata.attitude[1]/AHRS2F; |
open4416 | 19:d68f21173c23 | 409 | #endif |
open4416 | 6:fbe401163489 | 410 | } |
open4416 | 6:fbe401163489 | 411 | |
open4416 | 6:fbe401163489 | 412 | void AWD(void) |
open4416 | 6:fbe401163489 | 413 | { |
open4416 | 8:f8b1402c8f3c | 414 | if(AWD_HMI) { |
open4416 | 8:f8b1402c8f3c | 415 | // A simple version is put here for reading |
open4416 | 8:f8b1402c8f3c | 416 | Vb_est = 0.25f * (FL_W_ele + FR_W_ele + RL_W_ele + RR_W_ele); |
open4416 | 8:f8b1402c8f3c | 417 | YR_ref = Steer_HMI*d2r*Vb_est/(Base+EG*Vb_est*Vb_est); |
open4416 | 8:f8b1402c8f3c | 418 | Mz_reg = (YR_ref - YR_imu) * K_yaw; //K_yaw unfinished 2019/11/15 |
open4416 | 8:f8b1402c8f3c | 419 | sig = 0.5f - HCG*Trq_HMI/(Base*Rwhl*Mtot*g0); |
open4416 | 8:f8b1402c8f3c | 420 | FL_Tcmd = (0.5f*Trq_HMI - Mz_reg*Rwhl/Track)*sig; |
open4416 | 8:f8b1402c8f3c | 421 | FR_Tcmd = (0.5f*Trq_HMI + Mz_reg*Rwhl/Track)*sig; |
open4416 | 8:f8b1402c8f3c | 422 | RL_Tcmd = (0.5f*Trq_HMI - Mz_reg*Rwhl/Track)*(1.0f-sig); |
open4416 | 8:f8b1402c8f3c | 423 | RR_Tcmd = (0.5f*Trq_HMI + Mz_reg*Rwhl/Track)*(1.0f-sig); |
open4416 | 8:f8b1402c8f3c | 424 | } else { |
open4416 | 8:f8b1402c8f3c | 425 | FL_Tcmd = 0.25f*Trq_HMI; |
open4416 | 8:f8b1402c8f3c | 426 | FR_Tcmd = 0.25f*Trq_HMI; |
open4416 | 8:f8b1402c8f3c | 427 | RL_Tcmd = 0.25f*Trq_HMI; |
open4416 | 8:f8b1402c8f3c | 428 | RR_Tcmd = 0.25f*Trq_HMI; |
open4416 | 8:f8b1402c8f3c | 429 | } |
open4416 | 8:f8b1402c8f3c | 430 | } |
open4416 | 6:fbe401163489 | 431 | |
open4416 | 8:f8b1402c8f3c | 432 | void ASL(void) |
open4416 | 8:f8b1402c8f3c | 433 | { |
open4416 | 8:f8b1402c8f3c | 434 | //Filter out each motor W_ele and get approximate accel, compare with IMU |
open4416 | 8:f8b1402c8f3c | 435 | //Policy is set as "degrade only" coefficient exp(K_ASL*delAccel) |
open4416 | 8:f8b1402c8f3c | 436 | //Fill out if enough time |
open4416 | 6:fbe401163489 | 437 | } |
open4416 | 6:fbe401163489 | 438 | |
open4416 | 5:8116016abee0 | 439 | void Rx_CAN1(void) |
open4416 | 5:8116016abee0 | 440 | { |
open4416 | 18:780366f2534c | 441 | // LED = 1; |
open4416 | 7:f674ef860c9c | 442 | int16_t tmp; |
open4416 | 7:f674ef860c9c | 443 | |
open4416 | 5:8116016abee0 | 444 | if(can1.read(can_msg_Rx)) { |
open4416 | 7:f674ef860c9c | 445 | switch(can_msg_Rx.id) { //Filtered input message |
open4416 | 7:f674ef860c9c | 446 | // Start of 100Hz msg |
open4416 | 8:f8b1402c8f3c | 447 | case FL_HSB_ID://1 |
open4416 | 7:f674ef860c9c | 448 | //HSB from FL motor drive |
open4416 | 7:f674ef860c9c | 449 | FL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT |
open4416 | 7:f674ef860c9c | 450 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 451 | FL_W_ele = tmp*1.0f; |
open4416 | 7:f674ef860c9c | 452 | tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 453 | FL_Trq_fil3 = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 454 | tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 455 | FL_Trq_est = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 456 | FL_online = 3; |
open4416 | 18:780366f2534c | 457 | //If fault |
open4416 | 18:780366f2534c | 458 | if(FL_DSM == 3U) { |
open4416 | 18:780366f2534c | 459 | VDU_FLT |= DSM_VDUFLTCode; //DSM Fault |
open4416 | 18:780366f2534c | 460 | } |
open4416 | 7:f674ef860c9c | 461 | break; |
open4416 | 7:f674ef860c9c | 462 | |
open4416 | 8:f8b1402c8f3c | 463 | case FR_HSB_ID://2 |
open4416 | 7:f674ef860c9c | 464 | //HSB from FR motor drive |
open4416 | 7:f674ef860c9c | 465 | FR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT |
open4416 | 7:f674ef860c9c | 466 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 467 | FR_W_ele = tmp*1.0f; |
open4416 | 7:f674ef860c9c | 468 | tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 469 | FR_Trq_fil3 = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 470 | tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 471 | FR_Trq_est = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 472 | FR_online = 3; |
open4416 | 18:780366f2534c | 473 | if(FR_DSM == 3U) { |
open4416 | 18:780366f2534c | 474 | VDU_FLT |= DSM_VDUFLTCode; //DSM Fault |
open4416 | 18:780366f2534c | 475 | } |
open4416 | 7:f674ef860c9c | 476 | break; |
open4416 | 7:f674ef860c9c | 477 | |
open4416 | 8:f8b1402c8f3c | 478 | case RL_HSB_ID://3 |
open4416 | 7:f674ef860c9c | 479 | //HSB from RL motor drive |
open4416 | 7:f674ef860c9c | 480 | RL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT |
open4416 | 7:f674ef860c9c | 481 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 482 | RL_W_ele = tmp*1.0f; |
open4416 | 7:f674ef860c9c | 483 | tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 484 | RL_Trq_fil3 = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 485 | tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 486 | RL_Trq_est = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 487 | RL_online = 3; |
open4416 | 18:780366f2534c | 488 | if(RL_DSM == 3U) { |
open4416 | 18:780366f2534c | 489 | VDU_FLT |= DSM_VDUFLTCode; //DSM Fault |
open4416 | 18:780366f2534c | 490 | } |
open4416 | 7:f674ef860c9c | 491 | break; |
open4416 | 7:f674ef860c9c | 492 | |
open4416 | 8:f8b1402c8f3c | 493 | case RR_HSB_ID://4 |
open4416 | 7:f674ef860c9c | 494 | //HSB from RR motor drive |
open4416 | 7:f674ef860c9c | 495 | RR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT |
open4416 | 7:f674ef860c9c | 496 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 497 | RR_W_ele = tmp*1.0f; |
open4416 | 7:f674ef860c9c | 498 | tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 499 | RR_Trq_fil3 = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 500 | tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 501 | RR_Trq_est = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 502 | RR_online = 3; |
open4416 | 18:780366f2534c | 503 | if(RR_DSM == 3U) { |
open4416 | 18:780366f2534c | 504 | VDU_FLT |= DSM_VDUFLTCode; //DSM Fault |
open4416 | 18:780366f2534c | 505 | } |
open4416 | 7:f674ef860c9c | 506 | break; |
open4416 | 7:f674ef860c9c | 507 | |
open4416 | 8:f8b1402c8f3c | 508 | case HMI_cmd_ID://5 |
open4416 | 7:f674ef860c9c | 509 | //HMI command from PSU |
open4416 | 7:f674ef860c9c | 510 | AWD_HMI = can_msg_Rx.data[6] & 0x01; //Get AWD switch |
open4416 | 7:f674ef860c9c | 511 | RST_HMI = can_msg_Rx.data[5] & 0x01; //Get RST request |
open4416 | 7:f674ef860c9c | 512 | RTD_HMI = can_msg_Rx.data[4] & 0x01; //Get RTD switch |
open4416 | 7:f674ef860c9c | 513 | tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 514 | Steer_HMI = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 515 | tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 516 | Trq_HMI = tmp * 0.01f; |
open4416 | 7:f674ef860c9c | 517 | PSU_online = 3; |
open4416 | 7:f674ef860c9c | 518 | break; |
open4416 | 7:f674ef860c9c | 519 | // end of 100Hz msg |
open4416 | 7:f674ef860c9c | 520 | |
open4416 | 7:f674ef860c9c | 521 | // Start of 10Hz msg |
open4416 | 8:f8b1402c8f3c | 522 | case FL_LSB_ID://6 |
open4416 | 7:f674ef860c9c | 523 | //LSB from FL motor drive |
open4416 | 7:f674ef860c9c | 524 | tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; |
open4416 | 7:f674ef860c9c | 525 | FL_Tmotor = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 526 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 527 | FL_Tmodule = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 528 | FL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 529 | FL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 530 | break; |
open4416 | 7:f674ef860c9c | 531 | |
open4416 | 8:f8b1402c8f3c | 532 | case FR_LSB_ID://7 |
open4416 | 7:f674ef860c9c | 533 | //LSB from FR motor drive |
open4416 | 7:f674ef860c9c | 534 | tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; |
open4416 | 7:f674ef860c9c | 535 | FR_Tmotor = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 536 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 537 | FR_Tmodule = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 538 | FR_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 539 | FR_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 540 | break; |
open4416 | 7:f674ef860c9c | 541 | |
open4416 | 8:f8b1402c8f3c | 542 | case RL_LSB_ID://8 |
open4416 | 7:f674ef860c9c | 543 | //LSB from RL motor drive |
open4416 | 7:f674ef860c9c | 544 | tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; |
open4416 | 7:f674ef860c9c | 545 | RL_Tmotor = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 546 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 7:f674ef860c9c | 547 | RL_Tmodule = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 548 | RL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 7:f674ef860c9c | 549 | RL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 550 | break; |
open4416 | 7:f674ef860c9c | 551 | |
open4416 | 8:f8b1402c8f3c | 552 | case RR_LSB_ID://9 |
open4416 | 7:f674ef860c9c | 553 | //LSB from RR motor drive |
open4416 | 7:f674ef860c9c | 554 | tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; |
open4416 | 8:f8b1402c8f3c | 555 | RR_Tmotor = tmp*0.01f; |
open4416 | 7:f674ef860c9c | 556 | tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; |
open4416 | 8:f8b1402c8f3c | 557 | RR_Tmodule = tmp*0.01f; |
open4416 | 8:f8b1402c8f3c | 558 | RR_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; |
open4416 | 8:f8b1402c8f3c | 559 | RR_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; |
open4416 | 7:f674ef860c9c | 560 | break; |
open4416 | 7:f674ef860c9c | 561 | // end of 10Hz msg |
open4416 | 7:f674ef860c9c | 562 | } |
open4416 | 5:8116016abee0 | 563 | } |
open4416 | 18:780366f2534c | 564 | // LED = 0; |
open4416 | 5:8116016abee0 | 565 | } |
open4416 | 5:8116016abee0 | 566 | |
open4416 | 6:fbe401163489 | 567 | void Tx_CLRerr_CAN1(void) |
open4416 | 2:c7a3a8c1aeed | 568 | { |
open4416 | 9:c99eeafa6fa3 | 569 | Tx_Estop_CAN1(); //disable as default |
open4416 | 9:c99eeafa6fa3 | 570 | RST_cmd = 0; //clear out on shot |
open4416 | 6:fbe401163489 | 571 | } |
open4416 | 6:fbe401163489 | 572 | |
open4416 | 6:fbe401163489 | 573 | void Tx_Estop_CAN1(void) |
open4416 | 6:fbe401163489 | 574 | { |
open4416 | 9:c99eeafa6fa3 | 575 | RTD_cmd = 0; //force disable |
open4416 | 6:fbe401163489 | 576 | Tx_Tcmd_CAN1(); |
open4416 | 2:c7a3a8c1aeed | 577 | } |
open4416 | 2:c7a3a8c1aeed | 578 | |
open4416 | 9:c99eeafa6fa3 | 579 | void Tx_Tcmd_CAN1(void) // 100 Hz |
open4416 | 2:c7a3a8c1aeed | 580 | { |
open4416 | 7:f674ef860c9c | 581 | int16_t tmp; |
open4416 | 7:f674ef860c9c | 582 | tmp = (int16_t) (FL_Tcmd * 100.0f); |
open4416 | 7:f674ef860c9c | 583 | temp_msg[0] = tmp; |
open4416 | 7:f674ef860c9c | 584 | temp_msg[1] = tmp >> 8U; |
open4416 | 7:f674ef860c9c | 585 | temp_msg[2] = RTD_cmd; |
open4416 | 7:f674ef860c9c | 586 | temp_msg[3] = RST_cmd; |
open4416 | 14:bcf5cb4d08a5 | 587 | temp_msg[4] = 0U; |
open4416 | 14:bcf5cb4d08a5 | 588 | temp_msg[5] = 0U; |
open4416 | 14:bcf5cb4d08a5 | 589 | temp_msg[6] = 0U; |
open4416 | 14:bcf5cb4d08a5 | 590 | temp_msg[7] = 0U; |
open4416 | 8:f8b1402c8f3c | 591 | can_msg_Tx = CANMessage(FL_CMD_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 592 | CANpendTX(); |
open4416 | 6:fbe401163489 | 593 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 594 | |
open4416 | 7:f674ef860c9c | 595 | tmp = (int16_t) (FR_Tcmd * 100.0f); |
open4416 | 7:f674ef860c9c | 596 | temp_msg[0] = tmp; |
open4416 | 7:f674ef860c9c | 597 | temp_msg[1] = tmp >> 8U; |
open4416 | 7:f674ef860c9c | 598 | temp_msg[2] = RTD_cmd; |
open4416 | 7:f674ef860c9c | 599 | temp_msg[3] = RST_cmd; |
open4416 | 8:f8b1402c8f3c | 600 | can_msg_Tx = CANMessage(FR_CMD_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 601 | CANpendTX(); |
open4416 | 6:fbe401163489 | 602 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 603 | |
open4416 | 7:f674ef860c9c | 604 | tmp = (int16_t) (RL_Tcmd * 100.0f); |
open4416 | 7:f674ef860c9c | 605 | temp_msg[0] = tmp; |
open4416 | 7:f674ef860c9c | 606 | temp_msg[1] = tmp >> 8U; |
open4416 | 7:f674ef860c9c | 607 | temp_msg[2] = RTD_cmd; |
open4416 | 7:f674ef860c9c | 608 | temp_msg[3] = RST_cmd; |
open4416 | 8:f8b1402c8f3c | 609 | can_msg_Tx = CANMessage(RL_CMD_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 610 | CANpendTX(); |
open4416 | 6:fbe401163489 | 611 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 612 | |
open4416 | 7:f674ef860c9c | 613 | tmp = (int16_t) (RR_Tcmd * 100.0f); |
open4416 | 7:f674ef860c9c | 614 | temp_msg[0] = tmp; |
open4416 | 7:f674ef860c9c | 615 | temp_msg[1] = tmp >> 8U; |
open4416 | 7:f674ef860c9c | 616 | temp_msg[2] = RTD_cmd; |
open4416 | 7:f674ef860c9c | 617 | temp_msg[3] = RST_cmd; |
open4416 | 8:f8b1402c8f3c | 618 | can_msg_Tx = CANMessage(RR_CMD_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 619 | CANpendTX(); |
open4416 | 6:fbe401163489 | 620 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 621 | |
open4416 | 2:c7a3a8c1aeed | 622 | } |
open4416 | 2:c7a3a8c1aeed | 623 | |
open4416 | 6:fbe401163489 | 624 | void Tx_Qdrv_CAN1(void) // 10 Hz |
open4416 | 0:c4747ebbe0b4 | 625 | { |
open4416 | 8:f8b1402c8f3c | 626 | int16_t tmp; |
open4416 | 6:fbe401163489 | 627 | // Auxilary sensor reading shitting out |
open4416 | 7:f674ef860c9c | 628 | temp_msg[0] = AUX_1_u16; |
open4416 | 7:f674ef860c9c | 629 | temp_msg[1] = AUX_1_u16 >> 8U; |
open4416 | 7:f674ef860c9c | 630 | temp_msg[2] = AUX_2_u16; |
open4416 | 7:f674ef860c9c | 631 | temp_msg[3] = AUX_2_u16 >> 8U; |
open4416 | 7:f674ef860c9c | 632 | temp_msg[4] = AUX_3_u16; |
open4416 | 7:f674ef860c9c | 633 | temp_msg[5] = AUX_3_u16 >> 8U; |
open4416 | 7:f674ef860c9c | 634 | temp_msg[6] = AUX_4_u16; |
open4416 | 7:f674ef860c9c | 635 | temp_msg[7] = AUX_4_u16 >> 8U; |
open4416 | 6:fbe401163489 | 636 | can_msg_Tx = CANMessage(AUX_sense_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 637 | CANpendTX(); |
open4416 | 6:fbe401163489 | 638 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 639 | |
open4416 | 6:fbe401163489 | 640 | // Qdrive internal state shitting out |
open4416 | 8:f8b1402c8f3c | 641 | temp_msg[0] = VDU_FLT; |
open4416 | 8:f8b1402c8f3c | 642 | temp_msg[1] = VDU_FLT >> 8U; |
open4416 | 8:f8b1402c8f3c | 643 | temp_msg[2] = VDU_STAT; |
open4416 | 14:bcf5cb4d08a5 | 644 | temp_msg[3] = (int8_t)(SDn_voltage*10.0f); |
open4416 | 14:bcf5cb4d08a5 | 645 | temp_msg[4] = (int8_t)(Brk_voltage*10.0f); |
open4416 | 14:bcf5cb4d08a5 | 646 | temp_msg[5] = 0U; |
open4416 | 14:bcf5cb4d08a5 | 647 | temp_msg[6] = 0U; |
open4416 | 14:bcf5cb4d08a5 | 648 | temp_msg[7] = 0U; |
open4416 | 6:fbe401163489 | 649 | can_msg_Tx = CANMessage(Qdrv_stat_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 650 | CANpendTX(); |
open4416 | 6:fbe401163489 | 651 | can1.write(can_msg_Tx); |
open4416 | 2:c7a3a8c1aeed | 652 | |
open4416 | 6:fbe401163489 | 653 | // IMU attitude readings shitting out, 10Hz on CAN but 100Hz for internal use |
open4416 | 8:f8b1402c8f3c | 654 | tmp = (int16_t) (YR_imu * 10000.0f); |
open4416 | 8:f8b1402c8f3c | 655 | temp_msg[0] = tmp; |
open4416 | 8:f8b1402c8f3c | 656 | temp_msg[1] = tmp >> 8U; |
open4416 | 8:f8b1402c8f3c | 657 | tmp = (int16_t) (Roll_imu * 100.0f); |
open4416 | 8:f8b1402c8f3c | 658 | temp_msg[2] = tmp; |
open4416 | 8:f8b1402c8f3c | 659 | temp_msg[3] = tmp >> 8U; |
open4416 | 8:f8b1402c8f3c | 660 | tmp = (int16_t) (Pitch_imu * 100.0f); |
open4416 | 8:f8b1402c8f3c | 661 | temp_msg[4] = tmp; |
open4416 | 8:f8b1402c8f3c | 662 | temp_msg[5] = tmp >> 8U; |
open4416 | 8:f8b1402c8f3c | 663 | temp_msg[6] = (int8_t)Ax_imu; |
open4416 | 8:f8b1402c8f3c | 664 | temp_msg[7] = (int8_t)Ay_imu; |
open4416 | 6:fbe401163489 | 665 | can_msg_Tx = CANMessage(IMU_sense_ID,temp_msg,8,CANData,CANStandard); |
open4416 | 6:fbe401163489 | 666 | CANpendTX(); |
open4416 | 6:fbe401163489 | 667 | can1.write(can_msg_Tx); |
open4416 | 6:fbe401163489 | 668 | } |
open4416 | 6:fbe401163489 | 669 | |
open4416 | 6:fbe401163489 | 670 | void CANpendTX(void) |
open4416 | 6:fbe401163489 | 671 | { |
open4416 | 6:fbe401163489 | 672 | //Pend till TX box has empty slot, timeout will generate error |
open4416 | 6:fbe401163489 | 673 | uint32_t timeout = 0; |
open4416 | 6:fbe401163489 | 674 | while(!(CAN1->TSR & CAN_TSR_TME_Msk)) { |
open4416 | 6:fbe401163489 | 675 | //Wait till non empty |
open4416 | 6:fbe401163489 | 676 | timeout += 1; |
open4416 | 6:fbe401163489 | 677 | if(timeout > 10000) { |
open4416 | 6:fbe401163489 | 678 | // Put some timeout error handler |
open4416 | 6:fbe401163489 | 679 | break; |
open4416 | 6:fbe401163489 | 680 | } |
open4416 | 0:c4747ebbe0b4 | 681 | } |
open4416 | 0:c4747ebbe0b4 | 682 | } |
open4416 | 1:8a9ac822aab7 | 683 | |
open4416 | 6:fbe401163489 | 684 | void CAN_init(void) |
open4416 | 6:fbe401163489 | 685 | { |
open4416 | 6:fbe401163489 | 686 | //Set CAN system |
open4416 | 6:fbe401163489 | 687 | SET_BIT(CAN1->MCR, CAN_MCR_ABOM); // Enable auto reboot after bus off |
open4416 | 6:fbe401163489 | 688 | can1.filter(FL_HSB_ID,0xFFFF,CANStandard,0); // ID filter listing mode |
open4416 | 6:fbe401163489 | 689 | can1.filter(FR_HSB_ID,0xFFFF,CANStandard,1); |
open4416 | 6:fbe401163489 | 690 | can1.filter(RL_HSB_ID,0xFFFF,CANStandard,2); |
open4416 | 6:fbe401163489 | 691 | can1.filter(RR_HSB_ID,0xFFFF,CANStandard,3); |
open4416 | 6:fbe401163489 | 692 | can1.filter(FL_LSB_ID,0xFFFF,CANStandard,4); |
open4416 | 6:fbe401163489 | 693 | can1.filter(FR_LSB_ID,0xFFFF,CANStandard,5); |
open4416 | 6:fbe401163489 | 694 | can1.filter(RL_LSB_ID,0xFFFF,CANStandard,6); |
open4416 | 6:fbe401163489 | 695 | can1.filter(RR_LSB_ID,0xFFFF,CANStandard,7); |
open4416 | 8:f8b1402c8f3c | 696 | can1.filter(HMI_cmd_ID,0xFFFF,CANStandard,8); // PSU online monitoring |
open4416 | 14:bcf5cb4d08a5 | 697 | // can1.mode(CAN::GlobalTest); // Add only for testing 2019/11/13 |
open4416 | 8:f8b1402c8f3c | 698 | can1.attach(&Rx_CAN1, CAN::RxIrq); // CAN1 Recieve Irq |
open4416 | 6:fbe401163489 | 699 | } |
open4416 | 2:c7a3a8c1aeed | 700 | |
open4416 | 6:fbe401163489 | 701 | void Module_WD(void) |
open4416 | 6:fbe401163489 | 702 | { |
open4416 | 9:c99eeafa6fa3 | 703 | //Module online dissipitive indicator |
open4416 | 6:fbe401163489 | 704 | if (FL_online != 0) { |
open4416 | 6:fbe401163489 | 705 | FL_online -= 1; |
open4416 | 6:fbe401163489 | 706 | } |
open4416 | 6:fbe401163489 | 707 | if (FR_online != 0) { |
open4416 | 6:fbe401163489 | 708 | FR_online -= 1; |
open4416 | 6:fbe401163489 | 709 | } |
open4416 | 6:fbe401163489 | 710 | if (RL_online != 0) { |
open4416 | 6:fbe401163489 | 711 | RL_online -= 1; |
open4416 | 6:fbe401163489 | 712 | } |
open4416 | 6:fbe401163489 | 713 | if (RR_online != 0) { |
open4416 | 6:fbe401163489 | 714 | RR_online -= 1; |
open4416 | 6:fbe401163489 | 715 | } |
open4416 | 6:fbe401163489 | 716 | if (PSU_online != 0) { |
open4416 | 6:fbe401163489 | 717 | PSU_online -= 1; |
open4416 | 6:fbe401163489 | 718 | } |
open4416 | 6:fbe401163489 | 719 | } |
open4416 | 18:780366f2534c | 720 | uint8_t Indication( // Blink indicator in pattern * repeat |
open4416 | 18:780366f2534c | 721 | uint8_t pattern, |
open4416 | 18:780366f2534c | 722 | uint16_t*repeat, |
open4416 | 18:780366f2534c | 723 | uint8_t*blk_n) |
open4416 | 18:780366f2534c | 724 | { |
open4416 | 18:780366f2534c | 725 | uint8_t out = 0; |
open4416 | 18:780366f2534c | 726 | if(*repeat==0) return out; // reject repeat = 0 case, out = 0 |
open4416 | 18:780366f2534c | 727 | out = (pattern>>(*blk_n)) & 1U; // blink from LSB to MSB |
open4416 | 18:780366f2534c | 728 | if(*blk_n < 7U) { |
open4416 | 18:780366f2534c | 729 | *blk_n += 1U; |
open4416 | 18:780366f2534c | 730 | } else { // a full pattern was passed |
open4416 | 18:780366f2534c | 731 | *blk_n = 0U; |
open4416 | 18:780366f2534c | 732 | *repeat >>= 1U; |
open4416 | 18:780366f2534c | 733 | } |
open4416 | 18:780366f2534c | 734 | return out; |
open4416 | 18:780366f2534c | 735 | } |
open4416 | 18:780366f2534c | 736 | |
open4416 | 18:780366f2534c | 737 | uint8_t IndicationKernel( // Generate blink pattern, return 1 if all ind cleared |
open4416 | 18:780366f2534c | 738 | uint8_t*pattern, |
open4416 | 18:780366f2534c | 739 | uint16_t*repeat, |
open4416 | 18:780366f2534c | 740 | uint8_t*phase, |
open4416 | 18:780366f2534c | 741 | uint16_t*Post_ind, |
open4416 | 18:780366f2534c | 742 | uint16_t*Run_ind, |
open4416 | 18:780366f2534c | 743 | uint16_t*VDU_ind) |
open4416 | 18:780366f2534c | 744 | { |
open4416 | 18:780366f2534c | 745 | //Blink indicator in pattern |
open4416 | 18:780366f2534c | 746 | //If FLT_Run = 0b0010-0110, pattern will be --......--...--.. |
open4416 | 18:780366f2534c | 747 | uint8_t refresh = 0; |
open4416 | 18:780366f2534c | 748 | if(*repeat!=0) return refresh; // skip straight to Indication() |
open4416 | 18:780366f2534c | 749 | |
open4416 | 18:780366f2534c | 750 | if(*Post_ind != 0) { |
open4416 | 18:780366f2534c | 751 | switch(*phase) { |
open4416 | 18:780366f2534c | 752 | case 0U: |
open4416 | 18:780366f2534c | 753 | *repeat = Post_rep; |
open4416 | 18:780366f2534c | 754 | *pattern = L_Pulse; |
open4416 | 18:780366f2534c | 755 | *phase = 1U; |
open4416 | 18:780366f2534c | 756 | break; |
open4416 | 18:780366f2534c | 757 | |
open4416 | 18:780366f2534c | 758 | case 1U: |
open4416 | 18:780366f2534c | 759 | *repeat = (*Post_ind)&(-*Post_ind); // extract LSB bit |
open4416 | 18:780366f2534c | 760 | *Post_ind &= ~*repeat; // this bit is used out |
open4416 | 18:780366f2534c | 761 | *pattern = S_Pulse; |
open4416 | 18:780366f2534c | 762 | *phase = 2U; |
open4416 | 18:780366f2534c | 763 | break; |
open4416 | 18:780366f2534c | 764 | |
open4416 | 18:780366f2534c | 765 | case 2U: |
open4416 | 18:780366f2534c | 766 | *repeat = 1U; |
open4416 | 18:780366f2534c | 767 | *pattern = N_Pulse; |
open4416 | 18:780366f2534c | 768 | *phase = 0U; |
open4416 | 18:780366f2534c | 769 | break; |
open4416 | 18:780366f2534c | 770 | } |
open4416 | 18:780366f2534c | 771 | return refresh; |
open4416 | 18:780366f2534c | 772 | } |
open4416 | 18:780366f2534c | 773 | |
open4416 | 18:780366f2534c | 774 | if(*Run_ind != 0) { |
open4416 | 18:780366f2534c | 775 | switch(*phase) { |
open4416 | 18:780366f2534c | 776 | case 0U: |
open4416 | 18:780366f2534c | 777 | *repeat = Run_rep; |
open4416 | 18:780366f2534c | 778 | *pattern = L_Pulse; |
open4416 | 18:780366f2534c | 779 | *phase = 1U; |
open4416 | 18:780366f2534c | 780 | break; |
open4416 | 18:780366f2534c | 781 | |
open4416 | 18:780366f2534c | 782 | case 1U: |
open4416 | 18:780366f2534c | 783 | *repeat = (*Run_ind)&(-*Run_ind); // extract LSB bit |
open4416 | 18:780366f2534c | 784 | *Run_ind &= ~*repeat; // this bit is used out |
open4416 | 18:780366f2534c | 785 | *pattern = S_Pulse; |
open4416 | 18:780366f2534c | 786 | *phase = 2U; |
open4416 | 18:780366f2534c | 787 | break; |
open4416 | 18:780366f2534c | 788 | |
open4416 | 18:780366f2534c | 789 | case 2U: |
open4416 | 18:780366f2534c | 790 | *repeat = 1U; |
open4416 | 18:780366f2534c | 791 | *pattern = N_Pulse; |
open4416 | 18:780366f2534c | 792 | *phase = 0U; |
open4416 | 18:780366f2534c | 793 | break; |
open4416 | 18:780366f2534c | 794 | } |
open4416 | 18:780366f2534c | 795 | return refresh; |
open4416 | 18:780366f2534c | 796 | } |
open4416 | 18:780366f2534c | 797 | |
open4416 | 18:780366f2534c | 798 | if(*VDU_ind != 0) { |
open4416 | 18:780366f2534c | 799 | switch(*phase) { |
open4416 | 18:780366f2534c | 800 | case 0U: |
open4416 | 18:780366f2534c | 801 | *repeat = VDU_rep; |
open4416 | 18:780366f2534c | 802 | *pattern = L_Pulse; |
open4416 | 18:780366f2534c | 803 | *phase = 1U; |
open4416 | 18:780366f2534c | 804 | break; |
open4416 | 18:780366f2534c | 805 | |
open4416 | 18:780366f2534c | 806 | case 1U: |
open4416 | 18:780366f2534c | 807 | *repeat = (*VDU_ind)&(-*VDU_ind); // extract LSB bit |
open4416 | 18:780366f2534c | 808 | *VDU_ind &= ~*repeat; // this bit is used out |
open4416 | 18:780366f2534c | 809 | *pattern = S_Pulse; |
open4416 | 18:780366f2534c | 810 | *phase = 2U; |
open4416 | 18:780366f2534c | 811 | break; |
open4416 | 18:780366f2534c | 812 | |
open4416 | 18:780366f2534c | 813 | case 2U: |
open4416 | 18:780366f2534c | 814 | *repeat = 1U; |
open4416 | 18:780366f2534c | 815 | *pattern = N_Pulse; |
open4416 | 18:780366f2534c | 816 | *phase = 0U; |
open4416 | 18:780366f2534c | 817 | break; |
open4416 | 18:780366f2534c | 818 | } |
open4416 | 18:780366f2534c | 819 | return refresh; |
open4416 | 18:780366f2534c | 820 | } |
open4416 | 18:780366f2534c | 821 | |
open4416 | 18:780366f2534c | 822 | // else all XXX_ind is cleared out, set refresh |
open4416 | 18:780366f2534c | 823 | refresh = 1U; |
open4416 | 18:780366f2534c | 824 | return refresh; |
open4416 | 18:780366f2534c | 825 | } |
open4416 | 6:fbe401163489 | 826 | |
open4416 | 8:f8b1402c8f3c | 827 | void Cooler(void) |
open4416 | 8:f8b1402c8f3c | 828 | { |
open4416 | 8:f8b1402c8f3c | 829 | //Cooling auto control, unfinish 2019/11/15 |
open4416 | 9:c99eeafa6fa3 | 830 | Max_Tmotor = max_fval(FL_Tmotor, FR_Tmotor, RL_Tmotor, RR_Tmotor); |
open4416 | 9:c99eeafa6fa3 | 831 | Max_Tmodule = max_fval(FL_Tmodule, FR_Tmodule, RL_Tmodule, RR_Tmodule); |
open4416 | 8:f8b1402c8f3c | 832 | if(0) { |
open4416 | 8:f8b1402c8f3c | 833 | Aux_Rly = 1; |
open4416 | 8:f8b1402c8f3c | 834 | } else { |
open4416 | 8:f8b1402c8f3c | 835 | Aux_Rly = 0; |
open4416 | 8:f8b1402c8f3c | 836 | } |
open4416 | 8:f8b1402c8f3c | 837 | } |
open4416 | 8:f8b1402c8f3c | 838 | |
open4416 | 9:c99eeafa6fa3 | 839 | int16_t max_uval(int16_t i1, int16_t i2, int16_t i3, int16_t i4) |
open4416 | 2:c7a3a8c1aeed | 840 | { |
open4416 | 2:c7a3a8c1aeed | 841 | int16_t max = i1; |
open4416 | 2:c7a3a8c1aeed | 842 | if(i2 > max) max = i2; |
open4416 | 2:c7a3a8c1aeed | 843 | if(i3 > max) max = i3; |
open4416 | 6:fbe401163489 | 844 | if(i4 > max) max = i4; |
open4416 | 2:c7a3a8c1aeed | 845 | return max; |
open4416 | 6:fbe401163489 | 846 | } |
open4416 | 9:c99eeafa6fa3 | 847 | |
open4416 | 9:c99eeafa6fa3 | 848 | float max_fval(float i1, float i2, float i3, float i4) |
open4416 | 9:c99eeafa6fa3 | 849 | { |
open4416 | 9:c99eeafa6fa3 | 850 | float max = i1; |
open4416 | 9:c99eeafa6fa3 | 851 | if(i2 > max) max = i2; |
open4416 | 9:c99eeafa6fa3 | 852 | if(i3 > max) max = i3; |
open4416 | 9:c99eeafa6fa3 | 853 | if(i4 > max) max = i4; |
open4416 | 9:c99eeafa6fa3 | 854 | return max; |
open4416 | 9:c99eeafa6fa3 | 855 | } |
open4416 | 8:f8b1402c8f3c | 856 | // pc.printf("SOC: %.2f\n", Module_Total*0.01f); |